Andres Upegui Yann Thoma Héctor F. Satizábal Francesco Mondada Philippe Rétornaz Yoan Graf Andrés Pérez-Uribe Eduardo Sanchez Ubichip, Ubidule, and MarXbot: A Hardware Platform for the Simulation of Complex Systems. 286-298 2010 ICES http://dx.doi.org/10.1007/978-3-642-15323-5_25 conf/ices/2010 db/conf/ices/ices2010.html#UpeguiTSMRGPS10